OpenRaiser/Intern-Atlas huggingface dataset:
Is Image-based Object Pose Estimation Ready to Support Grasping?
Venue: arXiv cs.RO 2025
Year: 2025

We present a framework for evaluating 6-DoF instance-level object pose estimators, focusing on those that require a single RGB (not RGB-D) image as input. Besides gaining intuition about how accurate these estimators are, we are interested in the degree to which they can serve as the sole perception mechanism for robotic grasping. To assess this, we perform grasping trials in a physics-based simulator, using image-based pose estimates to guide a parallel gripper and an underactuated robotic hand in picking up 3D models of objects. Our experiments on a subset of the BOP (Benchmark for 6D Object Pose Estimation) dataset compare five open-source object pose estimators and provide insights that were missing from the literature.
TransientTrack: Advanced Multi-Object Tracking and Classification of Cancer Cells with Transient Fluorescent Signals
Venue: arXiv cs.CV 2025
Year: 2025

Tracking cells in time-lapse videos is an essential technique for monitoring cell population dynamics at a single-cell level. Current methods for cell tracking are developed on videos with mostly single, constant signals and do not detect pivotal events such as cell death. Here, we present TransientTrack, a deep learning-based framework for cell tracking in multi-channel microscopy video data with transient fluorescent signals that fluctuate over time following processes such as the circadian rhythm of cells. By identifying key cellular events - mitosis (cell division) and apoptosis (cell death) our method allows us to build complete trajectories, including cell lineage information. TransientTrack is lightweight and performs matching on cell detection embeddings directly, without the need for quantification of tracking-specific cell features. Furthermore, our approach integrates Transformer Networks, multi-stage matching using all detection boxes, and the interpolation of missing tracklets with the Kalman Filter. This unified framework achieves strong performance across diverse conditions, effectively tracking cells and capturing cell division and death. We demonstrate the use of TransientTrack in an analysis of the efficacy of a chemotherapeutic drug at a single-cell level. The proposed framework could further advance quantitative studies of cancer cell dynamics, enabling detailed characterization of treatment response and resistance mechanisms. The code is available at https://github.com/bozeklab/TransientTrack.
Domain-Decomposed Graph Neural Network Surrogate Modeling for Ice Sheets
Venue: arXiv cs.LG 2025
Year: 2025

Accurate yet efficient surrogate models are essential for large-scale simulations of partial differential equations (PDEs), particularly for uncertainty quantification (UQ) tasks that demand hundreds or thousands of evaluations. We develop a physics-inspired graph neural network (GNN) surrogate that operates directly on unstructured meshes and leverages the flexibility of graph attention. To improve both training efficiency and generalization properties of the model, we introduce a domain decomposition (DD) strategy that partitions the mesh into subdomains, trains local GNN surrogates in parallel, and aggregates their predictions. We then employ transfer learning to fine-tune models across subdomains, accelerating training and improving accuracy in data-limited settings. Applied to ice sheet simulations, our approach accurately predicts full-field velocities on high-resolution meshes, substantially reduces training time relative to training a single global surrogate model, and provides a ripe foundation for UQ objectives. Our results demonstrate that graph-based DD, combined with transfer learning, provides a scalable and reliable pathway for training GNN surrogates on massive PDE-governed systems, with broad potential for application beyond ice sheet dynamics.
Elastic Weight Consolidation for Knowledge Graph Continual Learning: An Empirical Evaluation
Venue: arXiv cs.LG 2025
Year: 2025

Knowledge graphs (KGs) require continual updates as new information emerges, but neural embedding models suffer from catastrophic forgetting when learning new tasks sequentially. We evaluate Elastic Weight Consolidation (EWC), a regularization-based continual learning method, on KG link prediction using TransE embeddings on FB15k-237. Across multiple experiments with five random seeds, we find that EWC reduces catastrophic forgetting from 12.62% to 6.85%, a 45.7% reduction compared to naive sequential training. We observe that the task partitioning strategy affects the magnitude of forgetting: relation-based partitioning (grouping triples by relation type) exhibits 9.8 percentage points higher forgetting than randomly partitioned tasks (12.62% vs 2.81%), suggesting that task construction influences evaluation outcomes. While focused on a single embedding model and dataset, our results demonstrate that EWC effectively mitigates catastrophic forgetting in KG continual learning and highlight the importance of evaluation protocol design.
NeuroHJR: Hamilton-Jacobi Reachability-based Obstacle Avoidance in Complex Environments with Physics-Informed Neural Networks
Venue: arXiv cs.RO 2025
Year: 2025

Autonomous ground vehicles (AGVs) must navigate safely in cluttered environments while accounting for complex dynamics and environmental uncertainty. Hamilton-Jacobi Reachability (HJR) offers formal safety guarantees through the computation of forward and backward reachable sets, but its application is hindered by poor scalability in environments with numerous obstacles. In this paper, we present a novel framework called NeuroHJR that leverages Physics-Informed Neural Networks (PINNs) to approximate the HJR solution for real-time obstacle avoidance. By embedding system dynamics and safety constraints directly into the neural network loss function, our method bypasses the need for grid-based discretization and enables efficient estimation of reachable sets in continuous state spaces. We demonstrate the effectiveness of our approach through simulation results in densely cluttered scenarios, showing that it achieves safety performance comparable to that of classical HJR solvers while significantly reducing the computational cost. This work provides a new step toward real-time, scalable deployment of reachability-based obstacle avoidance in robotics.
A Low-Cost Reliable Racetrack Cache Based on Data Compression
Venue: arXiv cs.ET 2025
Year: 2025

SRAM-based cache memory faces several scalability limitations in deep nanoscale technologies, e.g., high leakage current, low cell stability, and low density. Emerging Non-Volatile Memory (NVM) technologies have received lots of attention in recent years, where Racetrack Memory (RTM) is among the most promising ones. RTM has the highest density among all NVMs and its access performance is comparable to SRAM technology. Therefore, RTM is a suitable alternative for SRAM in the Last-Level Caches (LLCs). Despite all its benefits, RTM confronts different reliability challenges due to the stochastic behavior of its storage element and highly error-prone data shifting, leading to a high probability of multiple-bit errors. Conventional Error-Correcting Codes (ECCs) are either incapable of tolerating multiple-bit errors or require a large amount of extra storage for check bits. This paper proposes taking advantage of value locality for compressing data blocks and freeing up a large fraction of cache blocks for storing data redundancy of strong ECCs. Utilizing the proposed scheme, a large majority of cache blocks are protected by strong ECCs to tolerate multiple-bit errors without any storage overhead. The evaluation using gem5 full-system simulator demonstrates that the proposed scheme enhances the mean-time-to-failure of the cache by an average of 11.3x with less than 1% hardware and performance overhead.
Real-World Robot Control by Deep Active Inference With a Temporally Hierarchical World Model
Venue: arXiv cs.RO 2025
Year: 2025

Robots in uncertain real-world environments must perform both goal-directed and exploratory actions. However, most deep learning-based control methods neglect exploration and struggle under uncertainty. To address this, we adopt deep active inference, a framework that accounts for human goal-directed and exploratory actions. Yet, conventional deep active inference approaches face challenges due to limited environmental representation capacity and high computational cost in action selection. We propose a novel deep active inference framework that consists of a world model, an action model, and an abstract world model. The world model encodes environmental dynamics into hidden state representations at slow and fast timescales. The action model compresses action sequences into abstract actions using vector quantization, and the abstract world model predicts future slow states conditioned on the abstract action, enabling low-cost action selection. We evaluate the framework on object-manipulation tasks with a real-world robot. Results show that it achieves high success rates across diverse manipulation tasks and switches between goal-directed and exploratory actions in uncertain settings, while making action selection computationally tractable. These findings highlight the importance of modeling multiple timescale dynamics and abstracting actions and state transitions.
Rectifying LLM Thought from Lens of Optimization
Venue: arXiv cs.CL 2025
Year: 2025

Recent advancements in large language models (LLMs) have been driven by their emergent reasoning capabilities, particularly through long chain-of-thought (CoT) prompting, which enables thorough exploration and deliberation. Despite these advances, long-CoT LLMs often exhibit suboptimal reasoning behaviors, such as overthinking and excessively protracted reasoning chains, which can impair performance. In this paper, we analyze reasoning processes through an optimization lens, framing CoT as a gradient descent procedure where each reasoning step constitutes an update toward problem resolution. Building on this perspective, we introduce RePro (Rectifying Process-level Reward), a novel approach to refine LLM reasoning during post-training. RePro defines a surrogate objective function to assess the optimization process underlying CoT, utilizing a dual scoring mechanism to quantify its intensity and stability. These scores are aggregated into a composite process-level reward, seamlessly integrated into reinforcement learning with verifiable rewards (RLVR) pipelines to optimize LLMs. Extensive experiments across multiple reinforcement learning algorithms and diverse LLMs, evaluated on benchmarks spanning mathematics, science, and coding, demonstrate that RePro consistently enhances reasoning performance and mitigates suboptimal reasoning behaviors.
SVRG and Beyond via Posterior Correction
Venue: arXiv cs.LG 2025
Year: 2025

Stochastic Variance Reduced Gradient (SVRG) and its variants aim to speed-up training by using gradient corrections, but have seen limited success in deep learning. Here, we show surprising new foundational connections of SVRG to a recently proposed Bayesian method called posterior correction. Specifically, we show that SVRG is recovered as a special case of posterior correction over the isotropic-Gaussian family, while novel extensions are automatically obtained by using more flexible exponential families. We derive two new SVRG variants by using Gaussian families: First, a Newton-like variant that employs novel Hessian corrections, and second, an Adam-like extension that improves pretraining and finetuning of Transformer language models. This is the first work to connect SVRG to Bayes and use it to boost variational training for deep networks.
Physical ID-Transfer Attacks against Multi-Object Tracking via Adversarial Trajectory
Venue: arXiv cs.CV 2025
Year: 2025

Multi-Object Tracking (MOT) is a critical task in computer vision, with applications ranging from surveillance systems to autonomous driving. However, threats to MOT algorithms have yet been widely studied. In particular, incorrect association between the tracked objects and their assigned IDs can lead to severe consequences, such as wrong trajectory predictions. Previous attacks against MOT either focused on hijacking the trackers of individual objects, or manipulating the tracker IDs in MOT by attacking the integrated object detection (OD) module in the digital domain, which are model-specific, non-robust, and only able to affect specific samples in offline datasets. In this paper, we present AdvTraj, the first online and physical ID-manipulation attack against tracking-by-detection MOT, in which an attacker uses adversarial trajectories to transfer its ID to a targeted object to confuse the tracking system, without attacking OD. Our simulation results in CARLA show that AdvTraj can fool ID assignments with 100% success rate in various scenarios for white-box attacks against SORT, which also have high attack transferability (up to 93% attack success rate) against state-of-the-art (SOTA) MOT algorithms due to their common design principles. We characterize the patterns of trajectories generated by AdvTraj and propose two universal adversarial maneuvers that can be performed by a human walker/driver in daily scenarios. Our work reveals under-explored weaknesses in the object association phase of SOTA MOT systems, and provides insights into enhancing the robustness of such systems.
Artemis: Structured Visual Reasoning for Perception Policy Learning
Venue: arXiv cs.CV 2025
Year: 2025

Recent reinforcement-learning frameworks for visual perception policy have begun to incorporate intermediate reasoning chains expressed in natural language. Empirical observations indicate that such purely linguistic intermediate reasoning often reduces performance on perception tasks. We argue that the core issue lies not in reasoning per se but in the form of reasoning: while these chains perform semantic reasoning in an unstructured linguistic space, visual perception requires reasoning in a spatial and object-centric space. In response, we introduce Artemis, a perception-policy learning framework that performs structured proposal-based reasoning, where each intermediate step is represented as a (label, bounding-box) pair capturing a verifiable visual state. This design enables explicit tracking of intermediate states, direct supervision for proposal quality, and avoids ambiguity introduced by language-based reasoning. Artemis is built on Qwen2.5-VL-3B, achieves strong performance on grounding and detection task and exhibits substantial generalization to counting and geometric-perception tasks. The consistent improvements across these diverse settings confirm that aligning reasoning with spatial representations enhances perception-policy learning. Owing to its strengthened visual reasoning, Artemis also achieves competitive performance on general MLLM benchmarks, illustrating that spatially grounded reasoning provides a principled route toward scalable and general perception policies.
RoaD: Rollouts as Demonstrations for Closed-Loop Supervised Fine-Tuning of Autonomous Driving Policies
Venue: arXiv cs.RO 2025
Year: 2025

Autonomous driving policies are typically trained via open-loop behavior cloning of human demonstrations. However, such policies suffer from covariate shift when deployed in closed loop, leading to compounding errors. We introduce Rollouts as Demonstrations (RoaD), a simple and efficient method to mitigate covariate shift by leveraging the policy's own closed-loop rollouts as additional training data. During rollout generation, RoaD incorporates expert guidance to bias trajectories toward high-quality behavior, producing informative yet realistic demonstrations for fine-tuning. This approach enables robust closed-loop adaptation with orders of magnitude less data than reinforcement learning, and avoids restrictive assumptions of prior closed-loop supervised fine-tuning (CL-SFT) methods, allowing broader applications domains including end-to-end driving. We demonstrate the effectiveness of RoaD on WOSAC, a large-scale traffic simulation benchmark, where it performs similar or better than the prior CL-SFT method; and in AlpaSim, a high-fidelity neural reconstruction-based simulator for end-to-end driving, where it improves driving score by 41\% and reduces collisions by 54\%.
Adaptive Matrix Sparsification and Applications to Empirical Risk Minimization
Venue: arXiv cs.DS 2025
Year: 2025

Consider the empirical risk minimization (ERM) problem, which is stated as follows. Let $K_1, \dots, K_m$ be compact convex sets with $K_i \subseteq \mathbb{R}^{n_i}$ for $i \in [m]$, $n = \sum_{i=1}^m n_i$, and $n_i\le C_K$ for some absolute constant $C_K$. Also, consider a matrix $A \in \mathbb{R}^{n \times d}$ and vectors $b \in \mathbb{R}^d$ and $c \in \mathbb{R}^n$. Then the ERM problem asks to find \[ \min_{\substack{x \in K_1 \times \dots \times K_m\\ A^\top x = b}} c^\top x. \] We give an algorithm to solve this to high accuracy in time $\widetilde{O}(nd + d^6\sqrt{n}) \le \widetilde{O} (nd + d^{11})$, which is nearly-linear time in the input size when $A$ is dense and $n \ge d^{10}$. Our result is achieved by implementing an $\widetilde{O}(\sqrt{n})$-iteration interior point method (IPM) efficiently using dynamic data structures. In this direction, our key technical advance is a new algorithm for maintaining leverage score overestimates of matrices undergoing row updates. Formally, given a matrix $A \in \mathbb{R}^{n \times d}$ undergoing $T$ batches of row updates of total size $n$ we give an algorithm which can maintain leverage score overestimates of the rows of $A$ summing to $\widetilde{O}(d)$ in total time $\widetilde{O}(nd + Td^6)$. This data structure is used to sample a spectral sparsifier within a robust IPM framework to establish the main result.
MV-TAP: Tracking Any Point in Multi-View Videos
Venue: arXiv cs.CV 2025
Year: 2025

Multi-view camera systems enable rich observations of complex real-world scenes, and understanding dynamic objects in multi-view settings has become central to various applications. In this work, we present MV-TAP, a novel point tracker that tracks points across multi-view videos of dynamic scenes by leveraging cross-view information. MV-TAP utilizes camera geometry and a cross-view attention mechanism to aggregate spatio-temporal information across views, enabling more complete and reliable trajectory estimation in multi-view videos. To support this task, we construct a large-scale synthetic training dataset and real-world evaluation sets tailored for multi-view tracking. Extensive experiments demonstrate that MV-TAP outperforms existing point-tracking methods on challenging benchmarks, establishing an effective baseline for advancing research in multi-view point tracking.
Improved Mean Flows: On the Challenges of Fastforward Generative Models
Venue: arXiv cs.CV 2025
Year: 2025

MeanFlow (MF) has recently been established as a framework for one-step generative modeling. However, its ``fastforward'' nature introduces key challenges in both the training objective and the guidance mechanism. First, the original MF's training target depends not only on the underlying ground-truth fields but also on the network itself. To address this issue, we recast the objective as a loss on the instantaneous velocity $v$, re-parameterized by a network that predicts the average velocity $u$. Our reformulation yields a more standard regression problem and improves the training stability. Second, the original MF fixes the classifier-free guidance scale during training, which sacrifices flexibility. We tackle this issue by formulating guidance as explicit conditioning variables, thereby retaining flexibility at test time. The diverse conditions are processed through in-context conditioning, which reduces model size and benefits performance. Overall, our $\textbf{improved MeanFlow}$ ($\textbf{iMF}$) method, trained entirely from scratch, achieves $\textbf{1.72}$ FID with a single function evaluation (1-NFE) on ImageNet 256$\times$256. iMF substantially outperforms prior methods of this kind and closes the gap with multi-step methods while using no distillation. We hope our work will further advance fastforward generative modeling as a stand-alone paradigm.
Generative Video Motion Editing with 3D Point Tracks
Venue: arXiv cs.CV 2025
Year: 2025

Camera and object motions are central to a video's narrative. However, precisely editing these captured motions remains a significant challenge, especially under complex object movements. Current motion-controlled image-to-video (I2V) approaches often lack full-scene context for consistent video editing, while video-to-video (V2V) methods provide viewpoint changes or basic object translation, but offer limited control over fine-grained object motion. We present a track-conditioned V2V framework that enables joint editing of camera and object motion. We achieve this by conditioning a video generation model on a source video and paired 3D point tracks representing source and target motions. These 3D tracks establish sparse correspondences that transfer rich context from the source video to new motions while preserving spatiotemporal coherence. Crucially, compared to 2D tracks, 3D tracks provide explicit depth cues, allowing the model to resolve depth order and handle occlusions for precise motion editing. Trained in two stages on synthetic and real data, our model supports diverse motion edits, including joint camera/object manipulation, motion transfer, and non-rigid deformation, unlocking new creative potential in video editing.
Objects in Generated Videos Are Slower Than They Appear: Models Suffer Sub-Earth Gravity and Don't Know Galileo's Principle...for now
Venue: arXiv cs.CV 2025
Year: 2025

Video generators are increasingly evaluated as potential world models, which requires them to encode and understand physical laws. We investigate their representation of a fundamental law: gravity. Out-of-the-box video generators consistently generate objects falling at an effectively slower acceleration. However, these physical tests are often confounded by ambiguous metric scale. We first investigate if observed physical errors are artifacts of these ambiguities (e.g., incorrect frame rate assumptions). We find that even temporal rescaling cannot correct the high-variance gravity artifacts. To rigorously isolate the underlying physical representation from these confounds, we introduce a unit-free, two-object protocol that tests the timing ratio $t_1^2/t_2^2 = h_1/h_2$, a relationship independent of $g$, focal length, and scale. This relative test reveals violations of Galileo's equivalence principle. We then demonstrate that this physical gap can be partially mitigated with targeted specialization. A lightweight low-rank adaptor fine-tuned on only 100 single-ball clips raises $g_{\mathrm{eff}}$ from $1.81\,\mathrm{m/s^2}$ to $6.43\,\mathrm{m/s^2}$ (reaching $65\%$ of terrestrial gravity). This specialist adaptor also generalizes zero-shot to two-ball drops and inclined planes, offering initial evidence that specific physical laws can be corrected with minimal data.